US 12,345,057 B2Granted

Automated drywall painting system and method

AssigneeCanvas Construction, Inc.

InventorsMaria J. Telleria, Gabriel F. Hein, Kevin B. Albert, Thomas F. Allen, Henrik Bennetsen, Josephine Marie Pedersen, Jonathan B. Pompa, Charlie Yan, Alana G. R. Yoel, Miles J. Flannery, Henry Tonoyan

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Abstract

An automated painting system that includes a robotic arm and a painting end effector coupled at a distal end of the robotic arm, with the painting end effector configured to apply paint to a target surface. The painting system can also include a computing device executing a computational planner that: generates instructions for driving the painting end effector and robotic arm to perform at least one painting task that includes applying paint, via the painting the end effector, to a plurality of drywall pieces, the generating based at least in part on obtained target surface data; and drives the end effector and robotic arm to perform the at least one painting task.

Claims20

Dependent claims

A method, the method comprising:

transmitting a first signal to a perception system of a painting system to scan one or more surfaces of a wall assembly;
receiving sensor data from the perception system;
determining a relative position of the painting system and the one or more surfaces of the wall assembly based on the scanning;
and
transmitting a second signal to a robotic arm of the painting system to move the robotic arm to apply a spray of paint from a painting end effector of the painting system to the one or more surfaces of the wall assembly based at least in part on the relative position, wherein the painting system creates a feathered paint edge by reducing an amount of the paint applied by the painting end effector at an edge of a first region of the one or more surfaces;
receiving further sensor data comprising paint flow rate data;
and
transmitting a third signal to cause a flow of the paint through the painting end effector to reverse to clear a clog based on detecting a change in the further sensor data.

5 more elements

A method, the method comprising:

transmitting a first signal to a perception system of a painting system to scan one or more surfaces of a wall assembly;
receiving sensor data from the perception system;
determining a relative position of the painting system and the one or more surfaces of the wall assembly based on the scanning;
transmitting a second signal to a robotic arm of the painting system to move the robotic arm to apply a spray of paint from a painting end effector of the painting system to the one or more surfaces of the wall assembly based at least in part on the relative position, wherein the painting system creates a feathered paint edge by reducing an amount of the paint applied by the painting end effector at an edge of a first region of the one or more surfaces;
receiving further sensor data comprising pressure data;
and
transmitting a third signal to cause a flow of the paint through the painting end effector to reverse to clear a clog based on detecting a change in the further sensor data.

4 more elements

A method, the method comprising:

transmitting a first signal to a perception system of a painting system to scan one or more surfaces of a wall assembly;
receiving sensor data from the perception system;
determining a relative position of the painting system and the one or more surfaces of the wall assembly based on the scanning;
transmitting a second signal to a robotic arm of the painting system to move the robotic arm to apply a spray of paint from a painting end effector of the painting system to the one or more surfaces of the wall assembly based at least in part on the relative position, wherein the painting system creates a feathered paint edge by reducing an amount of the paint applied by the painting end effector at an edge of a first region of the one or more surfaces;
receiving further sensor data comprising image data;
and
transmitting a third signal to cause a flow of the paint through the painting end effector to reverse to clear a clog based on detecting a change in the further sensor data.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/968,372Filed 18 Oct 2022 · continuation
Priority: 31 Mar 2017
Published: US 2023/0043189 A19 Feb 2023
Granted: 1 Jul 2025
Term ends: Not estimatedThe source records don’t support an estimate.

Classification56 codes

E04F 21/026
For applying plasticised masses to surfaces, e.g. plastering walls: for applying adhesive or joint compound to joint tapes, in particular drywall…
B05B 1/28
Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means: with integral means for shielding the…
B05B 7/0093
Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas: at…
B05B 9/007
Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour: at least a part of the…

Family

Application62/480,172Us provisional application · filed 31 Mar 2017
Application15/942,087Parent of this continuation · filed 30 Mar 2018
US 2023/0043189 A1Pre-grant publication · published 9 Feb 2023
US 11,499,325 B2Parent of this continuation
US 2018/0281012 A1Published application
US 12,345,057 B2This patent

From the US filing history. Foreign family members aren’t listed.